Senior project robotics
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Senior Project: Robotics. USM 2009. The Project. Four Members 2 ELE, 2 MEE. Two Parts Hardware and Software. Nine Months Sept 08 – May 09. The Team. Advisor Carlos Luck. Hardware JC Westby-Gibson (ELE) Levi Chouinard (MEE). Software Mike Nelson (MEE)

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Senior Project: Robotics

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Senior project robotics

Senior Project: Robotics

USM 2009


The project

The Project

  • Four Members

    2 ELE, 2 MEE

  • Two Parts

    Hardware and Software

  • Nine Months

    Sept 08 – May 09


The team

The Team

  • Advisor

    • Carlos Luck

  • Hardware

    JC Westby-Gibson (ELE)

    Levi Chouinard (MEE)

  • Software

    • Mike Nelson (MEE)

    • Dan Boissonneault (ELE)


Deadlines

Deadlines

  • Progress Report (end of semester 1)

  • EGN 301 Presentation (today)

  • National Engineering Week (next Sat.)

  • Thinking Matters (April 19th)

  • Final Report / Presentation (final day)


S o ftware

Software


The problem

The Problem

Staubli, Controller, and Terminal / PC

Scara, Controller, and Terminal / PC

Two clients are required, one for each manipulator, controller, and terminal combination


Simple solution

Simple Solution

Control Unit

Java

Control Unit


At a glance

At a Glance

  • Interacts with the controllers via serial cables*

  • Controllers have a preloaded receiving program

  • Allows manipulators to be accessed through dot ops ( robot1.move)

  • Allows manipulators to be grouped, making identical calls to multiple manipulators very easy.

* Interaction through the network is possible, but would require some hardware replacement (030 to 040 processor on the Staubli)


The java model

The Java Model

  • Manipulator

  • Variable Name

  • IO Connection

  • Manipulator Group

  • Quick access to all manipulators within

  • IO Client

  • Connect to controller

  • Disconnect from con.

  • Send byte array

  • Receive byte array

  • Communication Listener

  • What and from whom?


Communication

Communication

Control Unit

  • Communication Listener

  • event occured

Send()

addListener()

Connect()

Receive()

  • IO Client

  • connect

  • disconnect

  • send

  • receive

  • add listener

Receive()

Manipulator.send()

Manipulator.send()


Adept program

Adept Program

  • Simple string comparisons choose a program to run.

  • Looks for data on the serial port, executes on that data then returns to the serial port.


Adept program cont

Adept Program (cont)

Control Unit

“move”

“pick”

“reset”


Hardware

Hardware


Cage disassembly

Cage Disassembly


Frame construction

Frame construction


Table top construction

Table top construction


Pneumatics and control wiring for scara and tracks

Pneumatics and Control Wiring for Scara and Tracks


Universal end effector modifications and the creation of interactive objects

Universal End Effector Modifications and the Creation of Interactive Objects


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